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OpenCV 5 support (#1732)

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* OpenCV 5 support

* RTABMapConfig.cmake, guard from including stereoRectifyFisheye.h

* unified opencv components at the same place

* fixing android build

* Confirmed stereo calibration with fisheye works. Fix camera start/top progress dialog not drawn. Opencv >=4.7 using new opencv's ArucoDetector class.

* pinning opencv for downstream apps

* Avoid changing object/image points between fisheye calibration

* Fixed stereo calib diverging when recalibrating same data

* removed not needed opencv c api

* fixing depthai build on opencv5

* bumped version

* Adding ci opencv5 with homebrew

* fixed ci script

* Fixed OptimizerCeres build with opencv5
This commit is contained in:
matlabbe
2026-07-29 22:48:39 -07:00
committed by GitHub
parent 89998284bc
commit d9f3337f97
79 changed files with 741 additions and 366 deletions
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6
tools/CameraRGBD/main.cpp
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@@ -40,10 +40,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UEventsManager.h"
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/imgproc/types_c.h>
#if CV_MAJOR_VERSION >= 3
#include <opencv2/videoio/videoio_c.h>
#endif
#include <pcl/visualization/cloud_viewer.h>
#include <stdio.h>
#include <signal.h>
@@ -470,7 +466,7 @@ int main(int argc, char * argv[])
{
if(right.channels() == 3)
{
cv::cvtColor(right, right, CV_BGR2GRAY);
cv::cvtColor(right, right, cv::COLOR_BGR2GRAY);
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudFromStereoImages(
rgb, right,